T-cube DC servo motor driver

advanced positioning technology

T-CUBE DC SERVO MOTOR DRIVERModel Number TDC001

THORLABS

About the CompanyThorlabs has been an active member of the Photonics community for over 15 years.We strive to be the ultimate resource for the photonics community-a place to find theproducts you need to enable your experiments, as well as the information you need to getyour application working.Thorlabs designs, develops, and manufactures building blocks for the photonics industryincluding equipment for opto-mechanics, motion control, nano-positioning, alignment,optical components, laser diodes, tunable lasers and vibration isolation systems. Inaddition to core photonics building blocks, we now provide system level solutionsincluding complete OCT and imaging systems.

Trademarks Product Warranty
Windows is a trademark of MicrosoftCorporation.ActiveX is a trademark of MicrosoftCorporation.Visual Basic is a trademark of MicrosoftCorporation.LabVIEW is a trademark of NationalInstruments Corporation.THORLABS is a registered trademark ofThorlabs Inc.
Opto-Electronics, Control Electronics,Optics, and Nano-Positioning ProductLines.Thorlabs offers a two year warranty on theabove mentioned product lines, providednormal use and maintenance of theproducts and when properly handled andcorrectly installed.Thorlabs shall repair or replace anydefective or nonconforming product asdetailed above. We ask that buyer contactThorlabs for a Return MaterialAuthorization number (RMA #) from ourCustomer Service/Returns department inorder to most efficiently process the returnand/or repair. Products returned for repair that are notcovered under warranty, a Thorlabsstandard repair charge shall be applicablein addition to all shipping expenses. Thisrepair charge will be quoted to thecustomer before the work is performed.

Revision History

Issue No. Date Summary1 130906 Initial Issue2 1201073 0306084 021008 Software Install

Contents

1 For Your Safety ......................................................................................... 3Safety Information .......................................................................................................... 3Warnings ........................................................................................................................ 4Declarations Of Conformity ............................................................................................ 4

For Customers in Europe ....................................................................................... 4For Customers In The USA .................................................................................... 4

Waste Electrical and Electronic Equipment (WEEE) Directive ....................................... 5Compliance ............................................................................................................ 5Waste treatment on your own responsibility .......................................................... 6Ecological background ........................................................................................... 6

2 Overview and Setup .................................................................................. 7Introduction ..................................................................................................................... 7T-Cube Controller Hub ................................................................................................... 8APT PC Software Overview ........................................................................................... 9

Introduction ............................................................................................................ 9APTUser Utility ..................................................................................................... 10APT Config Utility ................................................................................................. 11APT Server (ActiveX Controls) ............................................................................ 12Software Upgrades .............................................................................................. 13

3 Getting Started ........................................................................................ 14Install The Software ...................................................................................................... 14Mechanical Installation ................................................................................................. 15

Environmental Conditions .................................................................................... 15Mounting Options ................................................................................................. 15Removing the Baseplate ...................................................................................... 16

Electrical Installation ..................................................................................................... 17Connecting a Motor .............................................................................................. 17Using The TCH001 Controller Hub ...................................................................... 17Connecting To A Standalone Power Supply ....................................................... 18

Connect The Hardware ................................................................................................ 19Select the Stage Type (using APTConfig) .................................................................... 19Verifying Software Operation ....................................................................................... 21

Initial Setup .......................................................................................................... 21

4 Standalone Operation ............................................................................. 22Introduction ................................................................................................................... 22Control Panel Buttons and Indicators .......................................................................... 23Potentiometer Operation .............................................................................................. 23Button Operation .......................................................................................................... 24

Homing ................................................................................................................. 24Go to Position ...................................................................................................... 24Jogging ................................................................................................................ 24Switching between Button Modes......................................................................... 24Continued...

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5 PC Operation - Tutorial .......................................................................... 25Introduction .................................................................................................................. 25Using the APT User Utility ............................................................................................ 25Homing Motors ............................................................................................................. 27Moving to an Absolute Position .................................................................................... 28Changing Motor Parameters ........................................................................................ 29Jogging ......................................................................................................................... 30Graphical Control Of Motor Positions (Point and Move) .............................................. 31Setting Move Sequences ............................................................................................. 33Creating a Simulated Configuration ............................................................................. 36Stage/Axis Tab ............................................................................................................. 39

6 Software Reference ................................................................................. 40Introduction .................................................................................................................. 40GUI Panel ..................................................................................................................... 40Settings Panel .............................................................................................................. 42

Moves/Jogs Tab .................................................................................................. 42Stage/Axis Tab .................................................................................................... 45Advanced Tab ..................................................................................................... 48

Appendices

A Rear Panel Connector Pinout Details ................................................... 51Rear Panel Motor Control Connector ........................................................................... 51

B Preventive Maintenance ......................................................................... 52Safety Testing .............................................................................................................. 52Cleaning ....................................................................................................................... 52

C Specifications and Associated Products ............................................. 53Specifications ............................................................................................................... 53Associated Products .................................................................................................... 54

D DC Motor Operation - Background ....................................................... 55How A DC Motor Works ............................................................................................... 55Positive and Negative Moves ....................................................................................... 56Velocity Profiles ............................................................................................................ 56Positioning a Stage ...................................................................................................... 57General ........................................................................................................................ 57Home position .............................................................................................................. 57Limit Switches .............................................................................................................. 57Minimum and Maximum Positions ............................................................................... 58Error Correction ............................................................................................................ 59Backlash correction ...................................................................................................... 59

2

Chapter 1

For Your Safety1.1 Safety Information

For the continuing safety of the operators of this equipment, and the protection of theequipment itself, the operator should take note of the Warnings, Cautions and Notesthroughout this handbook.

The following safety symbols may be used throughout the handbook:

Warning. An instruction which draws attention to the risk of injury or death.

Caution. An instruction which draws attention to the risks of damage to the product,process or surroundings.

Note. Clarification of an instruction or additional information.

3

Chapter 1 For Your Safety

1.2 Warnings

• The unit must be connected only to a DC supply of 12-15V, 1A regulated. Thorlabs offer a compact, multi-way power supply unit (OPS008), allowing up to eight Driver T-Cubes to be powered from a single mains outlet. A single way wall plug supply (OPS001) for powering a single Driver T-Cube is also available.

• Only personnel trained in the servicing and maintenance of this equipment should remove its covers or attempt any repairs or adjustments.

• If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired. Do not operate the instrument outside its rated supply voltages or environmental range. In particular, excessive moisture may impair safety.

• This unit is intended for operation in the temperature range 5° to 40°C, 20% to 80% RH.

1.3 Declarations Of Conformity

1.3.1 For Customers in EuropeThis equipment has been tested and found to comply with the EC Directive 89/336/EEC ‘EMC Directive’.Compliance was demonstrated by conformance to the following specifications whichhave been listed in the Official Journal of the European Communities:

EMC EN61326: 1997

1.3.2 For Customers In The USAThis equipment has been tested and found to comply with the limits for a Class Adigital device, pursuant to part 15 of the FCC rules. These limits are designed toprovide reasonable protection against harmful interference when the equipment isoperated in a commercial environment. This equipment generates, uses and canradiate radio frequency energy and, if not installed and used in accordance with theinstruction manual, may cause harmful interference to radio communications.Operation of this equipment in a residential area is likely to cause harmful interferencein which case the user will be required to correct the interference at his own expense.Changes or modifications not expressly approved by Thorlabs Ltd. could void theuser’s authority to operate the equipment.

4

TDC001 Servo Motor Driver T-Cube

1.4 Waste Electrical and Electronic Equipment (WEEE) Directive

1.4.1 ComplianceAs required by the Waste Electrical and Electronic Equipment (WEEE) Directive ofthe European Community and the corresponding national laws, Thorlabs offers allend users in the EC the possibility to return "end of life" units without incurringdisposal charges.

This offer is valid for Thorlabs electrical and electronic equipment• sold after August 13th 2005 • marked correspondingly with the crossed out "wheelie bin" logo (see Fig. 1)• sold to a company or institute within the EC • currently owned by a company or institute within the EC • still complete, not disassembled and not contaminated

Fig. 1.1 Crossed out "wheelie bin" symbol

As the WEEE directive applies to self contained operational electrical and electronicproducts, this "end of life" take back service does not refer to other Thorlabs products,such as• pure OEM products, that means assemblies to be built into a unit by the user (e. g. OEM

laser driver cards) • components • mechanics and optics • left over parts of units disassembled by the user (PCB's, housings etc.).

If you wish to return a Thorlabs unit for waste recovery, please contact Thorlabs oryour nearest dealer for further information.

5

Chapter 1 For Your Safety

1.4.2 Waste treatment on your own responsibilityIf you do not return an "end of life" unit to Thorlabs, you must hand it to a companyspecialized in waste recovery. Do not dispose of the unit in a litter bin or at a publicwaste disposal site.

1.4.3 Ecological backgroundIt is well known that WEEE pollutes the environment by releasing toxic productsduring decomposition. The aim of the European RoHS directive is to reduce thecontent of toxic substances in electronic products in the future.The intent of the WEEE directive is to enforce the recycling of WEEE. A controlledrecycling of end of life products will thereby avoid negative impacts on theenvironment.

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Chapter 2

Overview and Setup2.1 Introduction

The T-Cube DC Servo Controller (TDC001) is a new very compact single channelcontroller/driver for easy manual and automatic control of DC Servo motors. Thisdriver has been designed to operate with a variety of lower powered DC brushedmotors (up to 15V/2.5W operation) equipped with encoder feedback. The TDC001has been optimised for 'out of the box' operation with the Thorlabs range of Z6 DCmotor equipped opto-mechanical products, however highly flexible software settingsand closed loop tuning also supports operation with a wide range of third party DCServo motors and associated stages/actuators.Although compact in footprint, this unit offers a fully featured motion control capabilityincluding velocity profile settings, limit switch handling, “on the fly” changes in motorspeed and direction, control over the closed loop PID parameters and, for moreadvanced operation, adjustment of settings such as lead screw pitch and gearboxratio, allowing support for many different actuator configurations.For convenience the footprint of this unit has been kept to a minimum, measuring only60mm x 60mm x 47mm (2.4” x 2.4” x 1.8”) and with the facility to directly mount to theoptical table close to the motorised device - convenient when manually adjustingmotor positions using the top panel controls (jog buttons and velocity control slider).Table top operation also allows minimal drive cable lengths for easier cablemanagement..

Fig. 2.1 T-Cube DC Servo Motor Driver

7

Chapter 2 Overview and Setup

USB connectivity provides easy 'Plug and Play' PC controlled operation - multipleunits can be connected to a single PC via standard USB hub technology or by usingthe new T-Cube Controller Hub (see over) for multi-axis motion control applications.Coupling this with the very user friendly apt™ software (supplied) allows the user tovery quickly get up and running with complex move sequences in a short space oftime – for example all relevant operating parameters are set automatically by thesoftware for Thorlabs stage/actuator products. Advanced custom motion controlapplications and sequences are also possible using the extensive ActiveX®programming environment also supplied. This programming library is compatible withmany development tools such as LabView, Visual Basic, Visual C++, C++ Builder,LabWindows/CVI, Matlab and Delphi.For power, a compact multi-way power supply unit (TPS008) is available fromThorlabs allowing up to 8 T-Cube Drivers to be powered from a single mains outlet.This power supply unit is also designed to take up minimal space and can be mountedto the optical table in close proximity to the driver units, connected via short powerleads. A single way wall plug supply (OPS001) is also available for powering a singleT-Cube Driver.In the remainder of this handbook, operation of the unit is described for both frontpanel and PC operation. Tutorial sections (Chapter 4 and Chapter 5) provide a goodinitial understanding on using the unit and reference section (Chapter 6) covers alloperating modes and parameters in detail.

2.2 T-Cube Controller Hub

As a further level of convenience when using the new T-Cube Controllers Thorlabsalso offers the new T-Cube Controller Hub (TCH001). This product has beendesigned specifically with multiple T-Cube operation in mind in order to simplify issuessuch as cable management, power supply routing, multiple USB devicecommunications and different optical table mounting scenarios. The T-Cube Controller Hub comprises a slim base-plate type carrier (375mm x 86mmx 21.5mm, 14.75” x 3.4” x 0.85”) with electrical connections located on the uppersurface to accept up to six T-Cubes.Internally the Controller Hub contains a fully compliant USB 2.0 hub circuit to providecommunications for all six T-Cubes – a single USB connection to the Controller Hubis all that is required for PC control. The Controller Hub also provides powerdistribution for up to six T-Cubes, requiring only a single power connection (from aseparate supply unit TPS006 supplied by Thorlabs).

8


2.3 APT PC Software Overview

2.3.1 IntroductionAs a member of the APT range of controllers, the T-Cube DC Driver shares many ofthe associated software benefits. This includes USB connectivity (allowing multipleunits to be used together on a single PC), fully featured Graphical User Interface(GUI) panels, and extensive software function libraries for custom applicationdevelopment.The APT software suite supplied with all APT controllers, including the DC Driver T-Cube, provides a flexible and powerful PC based control system both for users of theequipment, and software programmers aiming to automate its operation.For users, the APTUser (see Section 2.3.2.) and APTConfig (see Section 2.3.3.)utilities allow full control of all settings and operating modes enabling complete ‘out-of-box’ operation without the need to develop any further custom software. Bothutilities are built on top of a sophisticated, multi-threaded ActiveX ‘engine’ (called theAPT server) which provides all of the necessary APT system software services suchas generation of GUI panels, communications handling for multiple USB units, andlogging of all system activity to assist in hardware trouble shooting. It is this APTserver ‘engine’ that is used by software developers to allow the creation of advancedautomated positioning applications very rapidly and with great ease. The APT serveris described in more detail in Section 2.3.4.

AsideActiveX®, a Windows®-based, language-independent technology, allows a userto quickly develop custom applications that automate the control of APT systemhardware units. Development environments supported by ActiveX® technologyinclude Visual Basic®, LabView™, Borland C++ Builder, Visual C++, Delphi™,and many others. ActiveX® technology is also supported by .NET developmentenvironments such as Visual Basic.NET and Visual C#.NET.ActiveX controls are a specific form of ActiveX technology that provide both a userinterface and a programming interface. An ActiveX control is supplied for eachtype of APT hardware unit to provide specific controller functionality to thesoftware developer. See Section 2.3.4. for further details.

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2.3.2 APTUser UtilityThe APTUser application allows the user to interact with a number of APT hardwarecontrol units connected to the host PC. This program displays multiple graphicalinstrument panels to allow multiple APT units to be controlled simultaneously.

All basic operating parameters can be altered and, similarly, all operations (such asmotor moves) can be initiated. Settings and parameter changes can be saved andloaded to allow multiple operating configurations to be created and easily applied. For many users, the APTUser application provides all of the functionality necessaryto operate the APT hardware without the need to develop any further customsoftware. For those who do need to further customize and automate usage of the T-Cube DC Driver (e.g. to implement a positioning algorithm), this application illustrateshow the rich functionality provided by the APT ActiveX server is exposed by a clientapplication.Use of the APT User utility is covered in the PC tutorial (Chapter 5) and in theAPTUser online help file, accessed via the F1 key when using the APTUser utility.

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2.3.3 APT Config UtilityThere are many system parameters and configuration settings associated with theoperation of the APT Server. Most can be directly accessed using the variousgraphical panels, however there are several system wide settings that can be made'off-line' before running the APT software. These settings have global effect; such asswitching between simulator and real operating mode, associating mechanical stagesto specific motor actuators and incorporation of calibration data.

The APTConfig utility is provided as a convenient means for making these systemwide settings and adjustments. Full details on using APTConfig are provided in theonline help supplied with the utility.

Use of the APT Config utility is covered in the PC tutorial (Chapter 5) and in theAPTConfig online help file, accessed via the F1 key when using the APTConfig utility.

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2.3.4 APT Server (ActiveX Controls)ActiveX Controls are re-usable compiled software components that supply both agraphical user interface and a programmable interface. Many such Controls areavailable for Windows applications development, providing a large range of re-usablefunctionality. For example, there are Controls available that can be used tomanipulate image files, connect to the internet or simply provide user interfacecomponents such as buttons and list boxes. With the APT system, ActiveX Controls are deployed to allow direct control over (andalso reflect the status of) the range of electronic controller units, including the DCDriver T-Cube. Software applications that use ActiveX Controls are often referred toas 'client applications'. Based on ActiveX interfacing technology, an ActiveX Controlis a language independent software component. Consequently ActiveX Controls canbe incorporated into a wide range of software development environments for use byclient application developers. Development environments supported include VisualBasic, Labview, Visual C++, C++ Builder, HPVEE, Matlab, VB.NET, C#.NET and, viaVBA, Microsoft Office applications such as Excel and Word.Consider the ActiveX Control supplied for the APT OptoDC servo driver unit.

This Control provides a complete user graphical instrument panel to allow the motorunit to be manually operated, as well as a complete set of software functions (oftencalled methods) to allow all parameters to be set and motor operations to beautomated by a client application. The instrument panel reflects the current operatingstate of the controller unit to which it is associated (e.g. such as motor position).Updates to the panel take place automatically when a user (client) application ismaking software calls into the same Control. For example, if a client applicationinstructs the associated DC servo motor Control to move a motor, the progress of thatmove is reflected automatically by changing position readouts on the graphicalinterface, without the need for further programming intervention.

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The APT ActiveX Controls collection provides a rich set of graphical user panels andprogrammable interfaces allowing users and client application developers to interactseamlessly with the APT hardware. Each of the APT controllers has an associatedActiveX Control and these are described fully in system online help or the handbooksassociated with the controllers. Note that the APTUser and APTConfig utilities takeadvantage of and are built on top of the powerful functionality provided by the APTActiveX Server (as shown in Fig. 2.2).

Fig. 2.2 System Architecture Diagram

Refer to the main APT Software online help file, APTBase.hlp, for a completeprogrammers guide and reference material on using the APT ActiveX Controlscollection. This is available either by pressing the F1 key when running the APTserver, or via the Start menu, Start\Programs\Thorlabs\APT\APT Help.Additional software developer support is provided by the APT Support CD suppliedwith every APT controller. This CD contains a complete range of tutorial samples andcoding hints and tips, together with handbooks for all the APT controllers.

2.3.5 Software UpgradesThorlabs operate a policy of continuous product development and may issue softwareupgrades as necessary. Detailed instructions on installing upgrades are included on the APT SoftwareCD ROM.

13

Chapter 3

Getting Started3.1 Install The Software

Note. When operating via a PC, direct user interaction with the DC servo driver isaccomplished through intuitive graphical user interface panels (GUIs), which expose allkey operating parameters and modes. The user can select multiple panel viewsdisplaying different information about a particular hardware unit. The multitaskingarchitecture ensures that the graphical control panels always remain live, showing allcurrent hardware activity.

Cautions• Some PCs may have been configured to restrict the users ability to load software, and

on these systems the software may not install/run. If you are in any doubt about yourrights to install/run software, please consult your system administrator beforeattempting to install.

• If you experience any problems when installing software, contact Thorlabs on +44 (0)1353 654440 and ask for Technical Support.

DO NOT CONNECT THE CONTROLLER TO YOUR PC YET1) Insert the CD into your PC.2) The CD should run automatically. If your CD does not start, double click the file

‘autorun.exe’, found on the Software CD.3) A Welcome dialogue screen is displayed. Before installing the software, you are

strongly advised to read the Installation Guide. Click the associated link.

4) Once you are familiar with the installation procedure, click the ‘Install APTSoftware’ hyperlink displayed on the Welcome dialogue screen.

5) Follow the on-screen instructions - see the Installation Guide supplied for moreinformation.

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3.2 Mechanical Installation

3.2.1 Environmental Conditions

Warning. Operation outside the following environmental limits may adversely affectoperator safety.

Location Indoor use onlyMaximum altitude 2000 mTemperature range 5oC to 40oCMaximum Humidity Less than 80% RH (non-condensing) at 31°CTo ensure reliable operation the unit should not be exposed to corrosive agents orexcessive moisture, heat or dust.If the unit has been stored at a low temperature or in an environment of high humidity,it must be allowed to reach ambient conditions before being powered up.

3.2.2 Mounting OptionsThe T-Cube DC Driver is shipped with a baseplate fitted, ready to be bolted to abreadboard, optical table or similar surface. If desired, the baseplate can be removed and the unit can be stood on rubber feet -see Section 3.2.3. For multiple cube systems, a USB controller hub (TCH001) is available - see Section2.2. for further details. Full instructions on the fitting and use of the controller hub arecontained in handbook ha013x T-Cube Controller Hub, shipped with the product.

Caution. When siting the unit, it should be positioned so as not to impede the operation of thecontrol panel buttons. Ensure that proper airflow is maintained to the rear of the unit.

15

Chapter 3 Getting Started

3.2.3 Removing the BaseplateThe baseplate must be removed before the rubber feet (supplied) can be fitted, or theunit is connected to the USB controller hub..

Fig. 3.1 Removing The Baseplate

Using a hexagon key, remove the bolts securing the unit to the baseplate. Retain thebolts for future use if the baseplate is refitted.6) Invert the unit.7) Remove the backing paper from the rubber feet (supplied) taking care not to touch

the exposed adhesive surface.8) Position the feet as desired, then press and hold for a few seconds until the

adhesive has bonded.9) The unit may now be used freestanding, sitting on its rubber feet.

Detail A Detail BBaseplate removed and rubber feet fittedBaseplate attachment screws

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3.3 Electrical Installation

3.3.1 Connecting a Motor

Fig. 3.2 Rear Panel Connections

The unit is supplied with a 15 pin D-type connector as shown above, which iscompatible with all new Thorlabs DC servo motor actuators (refer to Appendix A fordetails of pin outs).A conversion adapter is also supplied to enable legacy actuators fitted with a 10-wayIDC connector, to be driven by the T-Cube.

3.3.2 Using The TCH001 Controller HubThe TCH001 USB Controller Hub provides power distribution for up to six T-Cubes,and requires only a single power connection (from a separate supply unit TPS006supplied by Thorlabs). Further details are contained in handbook ha0146T, T-CubeController Hub, supplied with the unit.

Warning. DO NOT PLUG A POWERED UP T-CUBE INTO THE TCH001 USBCONTROLLER HUB. Always ensure that all power is disconnected from the DC ServoDriver T-Cube AND the hub before the T-Cube is plugged into the hub. Failure toobserve this precaution will seriously damage the T-Cube unit and could result inpersonal injury.

MOTOR

17


3.3.3 Connecting To A Standalone Power Supply

Fig. 3.3 Front Panel Power Supply Connector

1) Using the front panel connector as shown above, connect the unit to a regulatedDC power supply of 15 V, 1A.

Thorlabs offers a compact, multi-way power supply unit (TPS008), allowing up toeight Driver T-Cubes to be powered from a single mains outlet. A single way wall plugsupply (TPS001) for powering a single Driver T-Cube is also available.

Warning. The unit must be connected only to a DC supply of 15V, 1A regulated.Connection to a supply of a different rating may cause damage to the unit and couldresult in injury to the operator.

3.4 Connect The Hardware

1) Perform the mechanical installation as detailed in Section 3.2.2) Install the APT Software.3) Connect the DC servo motor actuator to the Controller unit - see Section 3.3.1.

Caution. During item (4) ensure the power supply unit is isolated from the mains beforeconnecting to the T-Cube unit. Always power up the T-Cube unit by connecting itspower supply to the mains. DO NOT connect the T-Cube unit to a 'live' external powersupply. Doing so (i.e. “hot plugging”) carries the risk of PERMANENT damage to theunit. Similarly, to power down the unit, disconnect the power suply from the mainsbefore disconnecting the T-Cube unit.

4) Connect the Controller unit to the power supply - see Section 3.3.3.5) Connect the PSU to the main supply and switch ‘ON’.6) Connect the Controller unit to your PC.

(Note. The USB cable should be no more than 3 metres in length. Communicationlengths in excess of 3 metres can be achieved by using a powered USB hub).

USBDC 15V 1A

_

+

18


7) WindowsTM should detect the new hardware. Wait while WindowsTM installs thedrivers for the new hardware - see the Getting Started guide for more information.

3.5 Select the Stage Type (using APTConfig)

To ensure that a particular stage is driven properly by the system, a number ofparameters must first be set. These parameters relate to the physical characteristicsof the stage being driven (e.g. min and max positions, leadscrew pitch, homingdirection etc.). To assist in setting these parameters correctly, it is possible, using the APT Configutility, to associate a specific stage type and axis with the motor controller. Once thisassociation has been made, the APT server applies automatically, suitable defaultparameter values on boot up of the software.

Notes. • If the APTConfig utility is not used to associate a particular stage, the software will

associate a Z606 type actuator by default.• Even if a stage type and axis has been associated with the controller, it is still possible

to alter these parameters if required, (e.g. for a custom stage type not selectable usingthe APT Config utility) - see Section 6.3.2.

1) Shut down all applications using the APT software components (e.g. APT User oryour own custom application).

2) Run the APT Config utility - Start/Programs/Thorlabs/APT/APT Config.

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3) From the 'APT Configuration Utility' window, click the 'Stage' tab.

Fig. 3.4 APT Configuration Utility - Stage Tab

4) In the ‘Motor’ field, select the serial number of the DC servo motor controller to beconfigured (this number can be found on the side of the unit).

5) In the ‘Stage’ field, select your actuator type from the list displayed (e.g. Z612actuator).

6) Click the 'Add/Change Stage Association' button. The actuator type and serialnumber are added to the list in the main window as shown above.

7) The server reads in the stage and controller information on start up. Shut down the APTConfig utility and proceed to Section 3.6. to verify the softwareoperation.

See the APT Config utility on line help for further information.

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3.6 Verifying Software Operation

3.6.1 Initial SetupThe APT Software should be installed (Section 3.1.) and the stage associationperformed (Section 3.5.) before software operation can be verified.1) Run the APTUser utility and check that the Graphical User Interface (GUI) panel

appears and is active.

Fig. 3.5 Gui panel showing jog and ident buttons

2) Check that the actuator type and serial number associated in Section 3.5. aredisplayed in the GUI panel.

3) Click the ‘Ident’ button. The Power LED and digital display on the front panel ofthe associated controller flashes. This is useful in multi-channel systems foridentifying which channel is associated with which GUI.

4) Click the jog buttons on the GUI panel and check that the motor or axis connectedto the DC Driver T-Cube moves. The position display for the associated GUIshould increment and decrement accordingly.

Follow the tutorial steps described in Chapter 4 for further verification of operation.

Note. The 'APT Config' utility can be used to set up simulated hardware configurationsand place the APT Server into simulator mode. In this way it is possible to create anynumber and type of simulated (virtual) hardware units in order to emulate a set of realhardware. This is a particularly useful feature, designed as an aid to application programdevelopment and testing. Any number of 'virtual' control units are combined to build amodel of the real system, which can then be used to test the application software offline.If using real hardware, ensure that Simulator Mode is disabled. If using a simulatedsetup, enable Simulator Mode and set up a ‘Simulated Configuration’ - see Section 5.7.or the APTConfig helpfile for detailed instructions.

21

Chapter 4

Standalone Operation4.1 Introduction

The DC Driver T-Cube has been designed specifically to operate with the extensiverange of Thorlabs DC motorised opto-mechanical products. The unit offers a fullyfeatured motion control capability including velocity profile settings, limit switchhandling, homing sequences and, for more advanced operation, adjustment ofsettings such as lead screw pitch and gearbox ratio, allowing support for manydifferent actuator configurations. These parameters can be set via the APT Serversoftware - see Chapter 5. Furthermore, many of these parameters are automaticallyset to allow “out of the box” operation with no further “tuning” required.The following brief overview explains how the front panel controls can be used toperform a typical series of motor moves. It is assumed that the unit has already beeninsatlled and configured for the particular actuator or stage to hich it is associated -see Chapter 3 for more details.In conjunction with this chapter, it also may be useful to read the background on DCservo motor operation contained in Appendix D.

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4.2 Control Panel Buttons and Indicators

Fig. 4.1 Panel Controls and Indicators

MOVE Controls - These controls allow all motor moves to be initiated.Move/Jog Buttons - Used to jog the motors and make discrete position incrementsin either direction - see Section 5.6. for more details on jogging.Velocity Potentiometer - Used to drive the motor at a varying speed in eitherforward or reverse directions for full and easy motor control - see Section 4.3. Alsoused to switch between ‘Jogging’ and ‘Go To Position’ modes - see Section 4.4.4.

Active LED - The Active LED can be configured to flash when the motor reaches aforward or reverse limit switch, or when the Ident button is pressed in the GUI panel.It can also be configured to be lit when the motor is moving. - see Section 6.3.3. forfurther details.POWER LED - Lit when power is applied to the unit.

4.3 Potentiometer Operation

The potentiometer slider is sprung such that when released it returns to it’s centralposition. In this central position the motor is stationary. As the slider is moved awayfrom the centre, the motor begins to move. Bidirectional control of the motor ispossible by moving the slider in both directions. The speed of the motor increases bydiscrete amounts as a function of slider deflection. These speed settings are enteredin real world units (mm or degrees) in the ‘Potentiometer Control Settings’ parameterin the ‘Advanced’ settings tab - see Section 6.3.

POWER

ACTIVE

MOVE/JOG

apt - dc servo controller

VELOCITY

23

Chapter 4 Standalone Operation

4.4 Button Operation

The buttons on the front of the unit can be used to control the motor in a number ofways, as described below.4.4.1 HomingA ‘Home’ move is performed to establish a datum from which subsequent absoluteposition moves can be measured (see Section 5.3. and Section D.2.2. for furtherinformation on the home position).To initiate a ‘Home’ move, press and hold both buttons for 2 seconds. The move can be stopped at any time by pressing either of the move buttons.

4.4.2 Go to PositionIn ‘Go To Position’ mode, each front panel button can be programmed with a differentposition value, such that the controller will move the motor to that position when thespecific button is pressed. These ‘taught’ positions can be set through the softwareGUI - see Section 4.4.2.In addition to entering values in the Advanced Tab as described in Section 4.4.2.,when operating in ‘Go To Position’ mode it is possible from the front panel, to savethe current position as the ‘Go To Position’ value.

To save the current position as the ‘Go To Position’ value, press and hold therequired button for 2 seconds.

When the button has been programmed the ‘Active’ LED on the unit will flash fivetimes. Typically you would use the pot to move the motor to the required position andthen ‘teach’ the button by pressing and holding it.The move can be stopped at any time by pressing either of the move buttons.This mode of operation is enabled by setting the ‘Button Mode’ parameter to ‘Go ToPosition’ on the Advanced settings tab - see Section 6.3. for further information.

4.4.3 JoggingThe front panel buttons can also be configured to ‘jog’ the motor. This mode ofoperation is enabled by setting the ‘Button Mode’ parameter to ‘Jogging’ on the‘Advanced’ settings tab - see Section 6.3. Once set to this mode, the joggingparameters for the buttons are taken from the ‘Jog’ parameters on the ‘Move/Jogs’settings tab - see Section 6.3.

4.4.4 Switching between Button ModesThe two panel buttons on the unit can be set to ‘Jogging’ or ‘Go To Position’ modesvia the front panel. Press and hold one of the buttons and simultaneously deflect the pot upwards to placethe unit into ‘Go To Position’ mode. Similarly press and hold one of the buttons anddeflect the pot downwards to place the unit into ‘Jogging’ mode. After each modechange the ‘Active’ LED on the unit will flash five times.

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Chapter 5

PC Operation - Tutorial5.1 Introduction

The following brief tutorial guides the user through a typical series of moves andparameter adjustments performed using the PC based APT software. It assumes thatthe unit is electrically connected as shown in Section 3.3.1. and that the APTSoftware is already installed - see Section 3.1. For illustration purposes, it alsoassumes that a Z612 motor is connected to the ‘Motor’ connector on the rear panel.

5.2 Using the APT User Utility

The APT User.exe application allows the user to interact with any number of APThardware control units connected to the PC USB Bus (or simulated via the APTConfigutility). This program allows multiple graphical instrument panels to be displayed sothat multiple APT units can be controlled. All basic operating parameters can be setthrough this program, and all basic operations (such as motor moves) can be initiated.Hardware configurations and parameter settings can be saved, which simplifiessystem set up whenever APT User is run up.

Fig. 5.1 Typical APT User Screen

1) Run the APT User program - Start/Programs/Thorlabs/APT/APT User.

25

Chapter 5 PC Operation - Tutorial

2) Notice how the Z612(B) actuator type, selected in Section 3.5. is displayed in the‘Settings’ window. See Section 5.10. and Section 6.3. for further details on theparameter values shown in the ‘Settings’ display.

Fig. 5.2 DC Driver T-CubeSoftware GUI

The APT User utility will be used throughout the rest of this tutorial to interface withthe DC servo motor controller.

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5.3 Homing Motors

Homing the motor moves the actuator to the home limit switch and resets the internalposition counter to zero. The limit switch provides a fixed datum that can be foundafter the system has been powered up.

Fig. 5.3 DC Driver T-Cube Software GUI

1) Click the ‘Home’ button. Notice that the led in the button lights to indicate thathoming is in progress and the displayed position for both channels counts downto 000.000, i.e the home position.Note. Homing can also be performed by holding down both front panel buttons foraround 2 seconds.Note. After homing, shaft relaxation may cause a small position offset to bedisplayed. This relates only to one or two encoder counts and is not significant interms of ‘real world’ positioning.

2) When homing is complete, the ‘Homed’ LED is lit as shown above.See Appendix D, Section D.2.2. for background information on the home position.

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5.4 Moving to an Absolute Position

Absolute moves are measured in real world units (e.g. millimetres), relative to theHome position.1) Click the position display.

Fig. 5.4 Absolute Position Popup Window

2) Enter 3.0 into the pop up window3) Click ‘OK’. Notice that the position display counts up to 003.000 to indicate a move

to the absolute position 3.00mm.

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5.5 Changing Motor Parameters

Moves are performed using a trapezoidal velocity profile (see Appendix D, SectionD.1.3.). The velocity settings relate to the maximum velocities at which a move isperformed, and the acceleration at which the motor speeds up from zero to maximumvelocity.

1) On the GUI panel, click the ‘Settings’ button (bottom right hand corner of thedisplay) to show the Settings panel.

Fig. 5.5 Settings Panel - Move/Jogs Tab

2) Select the Move/Jogs tab as shown in Fig. 5.5.3) In the ‘Moves’ field, enter parameter values as follows:

‘Max. Vel’ - ‘0.25’‘Accn/Dec’ - ‘0.1’Note. In current versions of software, the ‘Min Vel’ parameter is locked at zero andcannot be adjusted.

4) Click ‘OK’ to save the settings and close the window.5) Any further moves initiated will now be performed at a maximum velocity of

0.25mm per second, with an acceleration of 0.1mm/sec/sec.

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5.6 Jogging

During PC operation, the motor actuators are jogged using the GUI panel arrow keys.There are two jogging modes available, ‘Single Step’ and ‘Continuous’. In ‘SingleStep’ mode, the motor moves by the step size specified in the Step Distanceparameter. If the jog key is held down, single step jogging is repeated until the buttonis released - see Fig. 6.3. In ‘Continuous’ mode, the motor actuator will accelerate andmove at the jog velocity while the button is held down.

1) On the GUI panel, click the ‘Settings’ button to display the Settings panel.

Fig. 5.6 Settings Panel - Move/Jogs Tab

2) Select the Move/Jogs tab as shown in Fig. 5.6.3) In the ‘Jogs’ field, enter parameter values as follows:

Velocity Profile‘Max. Vel’ - ‘0.25’‘Accn/Dec’ - ‘0.1’Note. In current versions of software, the ‘Min Vel’ parameter is locked at zero andcannot be adjusted.

Operating Modes‘Jogging’ - ‘Single Step’‘Stopping’ - ‘Profiled’

‘Step Distance’ - ‘0.1’4) Click ‘OK’ to save the settings and close the window.5) Click the Jog Arrows on the GUI panel to jog the motor. Notice that the position

display increments 0.1 every time the button is clicked.

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5.7 Graphical Control Of Motor Positions (Point and Move)

The GUI panel display can be changed to a graphical display, showing the position ofthe motor channel(s). Moves to absolute positions can then be initiated by positioningthe mouse within the display and clicking.To change the panel view to graphical view, right click in the screen and select‘Graphical View’.

Fig. 5.7 DC Driver T-Cube GUI Panel - Graphical View

Consider the display shown above for an DC Driver T-Cube.The right hand display shows the channel and motor unit parameters; i.e. controllerunit type and serial number, associated stage and actuator type, minimum andmaximum positions, current position, units per grid division and cursor position. Allunits are displayed in real world units, either millimetres or degrees.Note. For single channel units such as the DC Driver T-Cube, the Channel 2parameters are greyed out.The left hand display shows a circle, which represents the current position of themotor associated with the specified controller (absolute position data is displayed inthe 'Chan Pos' field).The vertical divisions relate to the travel of the stage/actuator associated with the DCDriver T-Cube (the stage/actuator is selected in the ‘APT Config’ utility). For example,the screen shot above shows the parameters for a 6mm travel Z606 motor actuator.The graph shows 6 divisions in the X axis, which relates to 1mm of travel per division(6mm in total).The graphical panel has two modes of operation, ‘Jog’ and ‘Move’, which are selectedby clicking the buttons at the bottom right of the screen.

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Move ModeWhen ‘Move’ is selected, the motors move to an absolute position which correspondsto the position of the cursor within the screen. To specify a move:1) Position the mouse within the window. For reference, the absolute motor position

value associated with the mouse position is displayed in the 'Cursor Position field. 2) Click the left hand mouse button to initiate the move.

Jog ModeWhen ‘Jogging’ mode is selected, the motors are jogged each time the left mousebutton is clicked.The Jog direction corresponds to the position of the cursor relative to the circle(current motor position), e.g. if the cursor is to the left of the circle the motor will jogleft. The Jog Step size is that selected in the Settings panel - see Section 6.3.

StopTo stop the move at any time, click the ‘Stop’ button.

Returning to Panel ViewTo return to panel view, right click in the graphical panel and select ‘Panel View’.

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5.8 Setting Move Sequences

This section explains how to set move sequences, allowing several positions to bevisited without user intervention.

For details on moving to absolute positions initiated by a mouse click – see Section5.7.

1) From the Motor GUI Panel, select 'Move Sequencer' tab to display the MoveSequencer window.

Fig. 5.8 Move Sequencer Window

2) Right click, in the move data field to display the pop up menu.

Fig. 5.9 Move Sequencer Pop Up Menu

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3) Select 'New' to display the 'Move Editor' panel.

Fig. 5.10 Move Editor Window

Move data is entered/displayed as follows:Dist/Pos: - the distance to move from the current position (if 'Relative' is selected) or the position to move to (if 'Absolute' is selected).Dwell Time: - after the move is performed, the system can be set to wait for aspecified time before performing the next move in the sequence. The Dwell time is thetime to wait (in milliseconds).Return - if checked, the system will move to the position specified in the Dist/Pos field,wait for the specified Dwell time, and then return to the original position.4) Min Vel: Acc: and Max Vel: - the velocity profile parameters for the move.

Note. In current versions of software, the ‘Min Vel’ parameter is locked at zero andcannot be adjusted.

The motor accelerates at the rate set in the Acc field up to the speed set in the MaxVel field. As the destination approaches, the motor decelerates again to ensure thatthere is no overshoot of the position.

5) Enter the required move data into the Move Editor and click OK. The move datais displayed in the main window as shown below.

Fig. 5.11 Main Window with Move Data

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6) Repeat step 4 as necessary to build a sequence of moves. Move data can becopied, deleted, cut/pasted and edited by right clicking the data line(s) andselecting the appropriate option in the pop up menu (shown below).

Fig. 5.12 Pop Up Options

7) To run a single line of data, right click the appropriate data and select 'Run' fromthe pop up menu (shown above).

8) To run the entire sequence, click the 'Run' button (shown below). A Home movecan also be performed from this panel by clicking the ‘Home’ button.

Fig. 5.13 Home and Run Buttons

9) To save data to a file, or load data from a previously saved file, click the ‘Save’ or‘Load’ button and browse to the required location.

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5.9 Creating a Simulated Configuration

The 'APT Config' utility can be used to set up simulated hardware configurations andplace the APT Server into simulator mode. In this way it is possible to create anynumber and type of simulated (virtual) hardware units in order to emulate a set of realhardware. This is a particularly useful feature, designed as an aid learning how to usethe APT software and as an aid to developing custom software applications ‘offline’.Any number of 'virtual' control units can be combined to emulate a colection ofphysical hardware units For example, an application program can be written, thentested and debugged remotely, before running with the hardware.To create a simulated configuration proceed as follows:1) Run the APT Config utility - Start/Programs/Thorlabs/APT/APT Config.2) Click the 'Simulator Configuration' tab.

Fig. 5.14 APT Configuration Utility - Simulator Configuration Tab

3) Enter ‘LAB 1’ in the Configuration Names field.

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4) In the 'Simulator' field, check the ‘Enable Simulator Mode’ box. The name of themost recently used configuration file is displayed in the 'Current Configuration'window.

5) In the ‘Control Unit’ field, select ‘1 Ch DC Driver T-Cube (TDC001)’.

37


6) In the ‘Enter 6 digit serial number’ field, enter the serial number of your OptoDCunit.

Note. Each physical APT hardware unit is factory programmed with a unique 8 digitserial number. In order to simulate a set of ‘real’ hardware the Config utility allows an8 digit serial number to be associated with each simulated unit. It is good practice whencreating simulated configurations for software development purposes to use the sameserial numbers as any real hardware units that will be used. Although serial numbers are8 digits (as displayed in the ‘Load Configuration Details’ window), the first two digitsare added automatically and identify the type of control unit.

The prefixed digits relating to the DC Servo Driver T-Cube are:83xxxxxx - 1 Ch DC Driver T-Cube

7) Click the 'Add' button.8) Repeat items (1) to (7) as required. (A unit can be removed from the configuration

by selecting it in the 'Loaded Configuration Details' window and clicking the'Remove' button or by right clicking it and selecting the 'Remove' option from thepop up window).

9) Click 'Save'. 10)Click 'Set As Current' to use the configuration.

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5.10 Stage/Axis Tab

This tab contains a number of parameters which are related to the physicalcharacteristics of the particular stage or actuator being driven. They need to be setaccordingly such that a particular stage is driven properly by the system.

Fig. 5.15 Stage/Axis Tab

These parameters were set automatically when the Z612 series actuator wasselected using the APTConfig utility in Section 3.5. The APT server automaticallyapplied suitable defaults for the parameters on this tab during boot up of any clientsoftware such as APTUser. These parameters should not be altered for pre-definedThorlabs stages and actuators selected using APT Config, as it may adversely affectthe performance of the stage.For third party stage types not available using the APT Config utility, these stagedetails must be entered manually.Individual parameters are described in Section 6.3.

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Chapter 6

Software Reference6.1 Introduction

This chapter gives an explanation of the parameters and settings accessed from theAPT software running on a PC.

6.2 GUI Panel

The following screen shot shows the graphical user interface (GUI) displayed whenaccessing the DC Driver T-Cube using the APTUser utility.

Fig. 6.1 DC Driver T-Cube Software GUI

Note. The serial number of the DC Driver T-Cube associated with the GUI panel, theAPT server version number, and the version number (in brackets) of the embeddedsoftware running on the unit, are displayed in the top right hand corner. Thisinformation should always be provided when requesting customer support.Jog - used to increment or decrement the motor position. When the button is clicked,the motor is driven in the selected direction at the jog velocity one step per click. Thestep size and jog velocity parameters are set in the 'Settings' panel (see Section 6.3.). Travel - displays the range of travel (in millimeters or degrees) of the motor.

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Moving - lit when the motor is in motion.Enable - applies power to the motor. With the motor enabled, the LED in the buttonis lit. Digital display - shows the position (in millimetres or degrees) of the motor. Themotor must be 'Homed' before the display will show a meaningful value, (i.e. thedisplayed position is relative to a physical datum, the limit switch).Home - sends the motor to its 'Home' position - see Appendix D Section D.2.2. TheLED in the button is lit while the motor is homing.Homed - lit when the motor has previously been 'Homed' (since power up).Stop - halts the movement of the motor.Limit switches - the LEDs are lit when the associated limit switch has been activated- see Appendix D Section D.2.3. for further details on limit switches.Settings display - shows the following user specified settings:Driver - the type of control unit associated with the specified channel.Stage - the stage type and axis associated with the specified channel.Note. By default, the software associates a ZST6 type actuator, unless the user hasused the APTConfig utility to associate a particular stage.Calib File - the calibration file associated with the specified channel. See the APTConfig utility helpfile for more details on assigning and using calibrationfiles.Min/Max V - the minimum velocity at which a move is initiated, and the maximumvelocity at which the move is performed. Values are displayed in real world units (mm/s or degrees/s), and can be set via the 'Settings' panel (see Section 6.3.).Accn - the rate at which the velocity climbs to, and slows from, maximum velocity,displayed in real world units (mm/s/s or degrees/s/s). The acceleration can be set viathe 'Settings' panel (see Section 6.3.) and is used in conjunction with the Min/Maxvelocity settings to determine the velocity profile of a motor move. See Appendix DSection D.1.3. for more information on velocity profiles.Jog Step Size - the size of step (in mm or degrees) taken when the jog signal isinitiated. The step size can be set either via the Settings panel or by calling theSetJogStepSize method.Settings button - Displays the 'Settings' panel, which allows the operatingparameters to be entered for the motor drive - see Section 6.3. Ident - when this button is pressed, the Channel LED on the front panel of theassociated hardware unit will flash for a short period. Active - lit when the unit is operating normally and no error condition exists.Error - lit when a fault condition occurs.

41

Chapter 6 Software Reference

6.3 Settings Panel

When the 'Settings' button on the GUI panel is clicked, the 'Settings' window isdisplayed. This panel allows motor operation parameters such as move/jog velocities,and stage/axis information to be modified. Note that all of these parameters haveprogrammable equivalents accessible through the ActiveX methods and propertieson this Control (refer to the Programming Guide in the APTBase helpfile for furtherdetails and to Section 2.3.4. for an overview of the APT ActiveX controls). The variousparameters are described below.

6.3.1 Moves/Jogs Tab

Fig. 6.2 DC Driver T-Cube - Move/Jog Settings

Moves - Velocity ProfileMoves can be initiated via the GUI panel, either by using the jog buttons (see Section5.6.) or by entering a position value after clicking on the position display box (seeSection 5.4.). The following settings determine the velocity profile of such moves, andare specified in real world units, millimetres or degrees.Note. On current versions of software, the ‘Min Vel’ parameter is locked at zero andcannot be adjusted.MaxVel - the maximum velocity at which to perform a move.Accn/Dec - the rate at which the velocity climbs from minimum to maximum, andslows from maximum to minimum.Note. Under certain velocity parameter and move distance conditions, the maximumvelocity may never be reached (i.e. the move comprises an acceleration anddeceleration phase only).

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Jogs Jogs are initiated by using the ‘Jog’ keys on the GUI panel (see Section 5.6.), or theJog Buttons on the front panel of the unit.Velocity Profile (specified in real world units, millimetres or degrees)Note. On current versions of software, the ‘Min Vel’ parameter is locked at zero andcannot be adjusted.MaxVel - the maximum velocity at which to perform a jogAccn/Dec - the rate at which the velocity climbs from minimum to maximum, andslows from maximum to minimum.

Operating ModesJogging - The way in which the motor moves when a jog command is received (i.e.front panel button pressed or GUI panel button clicked).There are two jogging modes available, ‘Single Step’ and ‘Continuous’. In ‘SingleStep’ mode, the motor moves by the step size specified in the Step Distanceparameter. If the jog key is held down, single step jogging is repeated until the buttonis released - see Fig. 6.3. In ‘Continuous’ mode, the motor actuator will accelerate andmove at the jog velocity while the button is held down..

Fig. 6.3 Jog Modes

Single Step - the motor moves by the step size specified in the Step Distanceparameter. Continuous - the motor continues to move until the jog signal is removed (i.e. jogbutton is released).

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Stopping - the way in which the jog motion stops when the demand is removed. Immediate - the motor stops quickly, in a non-profiled mannerProfiled - the motor stops in a profiled manner using the jog Velocity Profileparameters set above.

Step Distance - The distance to move when a jog command is initiated. The stepsize is specified in real world units (mm or degrees dependent upon the stage).

Backlash Correction - The system compensates for lead screw backlash duringreverse direction moves, by moving passed the demanded position by a specifiedamount, and then reversing. This ensures that positions are always approached in aforward direction. The Backlash Correction Distance is specified in real world units(millimeters or degrees). To remove backlash correction, this value should be set tozero.Persist Settings to Hardware - Many of the parameters that can be set for the DCDriver T-Cube can be stored (persisted) within the unit itself, such that when the unitis next powered up these settings are applied automatically. This is particularlyimportant when the driver is being used manually in the absence of a PC and USBlink. The Velocity Profile and Jogging parameters described previously are goodexamples of settings that can be altered and then persisted in the driver for use inabsence of a PC. To save the settings to hardware, check the ‘Persist Settings toHardware’ checkbox before clicking the ‘OK button.

Caution. The ‘Persist Settings’ functionality is provided to simplify use of the unit inthe absence of a PC. When the unit is connected to a PC and is operated via APTUser,the default APTServer settings will be loaded at boot up, even if the ‘Persist Settings’option has been checked.

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6.3.2 Stage/Axis Tab

Fig. 6.4 DC Driver T-Cube - Stage/Axis Settings

Note. This tab contains a number of parameters which are related to the physicalcharacteristics of the particular stage being driven. They need to be set accordingly suchthat a particular stage is driven properly by the system. For Thorlabs stages, the APT Config utility can be used to associate a specific stage andaxis type with the motor channel (refer to the tutorial in Section 3.5. for further detailson how to associate a stage and axis). Once this association has been made, the APTserver will automatically apply suitable defaults for the parameters on this tab duringboot up of the software. These parameters should not be altered for pre-defined Thorlabsstages selected using APT Config, as it may adversely affect the performance of thestage.For third party stage types not available using the APT Config utility, the stage detailsmust be entered manually. Individual parameters are described in the followingparagraphs.

Stage and Axis Type - For Thorlabs stages, the stage type is displayed automaticallyonce the axis has been associated using the APTConfig utility. For third party stages,the display shows ‘Unknown’.

Caution. Extreme care must be taken when modifying the stage related settings thatfollow. Some settings are self consistent with respect to each other, and illegalcombinations of settings can result in incorrect operation of the physical motor/stagecombination being driven. Consult Thorlabs for advice on settings for stage/actuatortypes that are not selectable via the APTConfig utility.

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Min Pos - the stage/actuator minimum position (typically zero).Max Pos - the stage/actuator maximum position.Pitch - the pitch of the motor lead screw (i.e. the distance travelled (in mm or degrees)per revolution of the leadscrew).Units - the ‘real world’ positioning units (mm or degrees).

HomingWhen homing, a stage typically moves in the reverse direction, (i.e. towards thereverse limit switch). The following settings allow support for stages with both Forwardand Reverse limits.

Note. Typically, the following two parameters are set the same, i.e. both Forward orboth Reverse.

Direction - the direction sense to move when homing, either Forward or Reverse.Limit Switch - The hardware limit switch associated with the home position, eitherForward HW or Reverse HW.Zero Offset - the distance offset (in mm or degrees) from the limit switch to the Homeposition.Velocity - the maximum velocity at which the motors move when Homing.For further information on the home position, see Section D.2.2.

Hardware Limit Switches

Note. The minimum velocity and acceleration/deceleration parameters for a home moveare taken from the existing move velocity profile parameters.

The operation of the limit switches is inherent in the design of the associated stage oractuator. The following parameters notify the system to the action of the switcheswhen contact is made. Select Rev Switch or Fwd Switch as required, then select therelevant operation.

Switch Makes - The switch closes on contactSwitch Breaks - The switch opens on contactIgnore/Absent - The switch is missing, or should be ignored.

MotorThese parameters are used to set the 'resolution' characteristics of the DC servomotor connected to the selected channel. The resolution of the motor, combined withother characteristics (such as lead screw pitch) of the associated actuator,determines the overall resolution. Steps Per Rev - The number of encoder counts per revolution of the DC servo motor(minimum '1', maximum '1000').

46


Note. The Gearbox Ratio parameter is applicable only to motors fitted with a gearbox.

Gearbox Ratio - The ratio of the gearbox. For example, if the gearbox has a reductionratio of X:1 (i.e. every 1 turn at the output of the gearbox requires X turns of the motorshaft) then the Gearbox Ratio value is set to X. (minimum '1', maximum '1000').

Notes. • The ‘Steps Per Rev’ and ‘Gearbox Ratio’ parameters, together with the ‘Pitch’ and

‘Units’ parameters are used to calculate the calibration factor for use when converting real world units to encoder counts.

• The Z600 series of DC servo motors have an encoder with 48 counts per rev and a 256:1 reduction gearbox. In this case, the Steps Per Rev and Gearbox Ratio should be set to '48' and '256' respectively. The equivalent calibration constant is calculated as:

48 x 256 x 2 = 25440 (encoder counts/mm)

48 counts per revolution256:1 reduction gearbox0.5mm lead screw pitch

• The correct default values for Steps Per Rev and Gearbox Ratio are applied automatically when the APTConfig.exe utility is used to associate a specific stage or actuator type with a motor channel. See the APTConfig helpfile and the tutorial Section 3.5. for more details.

Persist Settings to Hardware - Many of the parameters that can be set for the DCDriver T-Cube can be stored (persisted) within the unit itself, such that when the unitis next powered up these settings are applied automatically. This is particularlyimportant when the driver is being used manually in the absence of a PC and USBlink. The Stage and Homing parameters described previously are good examples ofsettings that can be altered and then persisted in the driver for use in absence of aPC. To save the settings to hardware, check the ‘Persist Settings to Hardware’checkbox before clicking the ‘OK button.


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6.3.3 Advanced Tab

Fig. 6.5 DC Driver T-Cube - Advanced Settings

Indicator LED ModesThe ‘Active’ and ‘Power’ LEDs fitted to the front panel of the unit can be configured toindicate certain driver states as follows:Limit Switch Activation: When this option is selected, the Active LED will flash whenthe motor reaches a forward or reverse limit switch.Ident: When this option is selected, the Active LED will flash when the ‘Ident’ buttonis clicked on the APT Software GUI panel.Motor Moving: When this option is selected, the Active LED is lit when the motor ismoving. It is recognised that, in a light sensitive environment stray light from the LED could beundesirable. Therefore it is possible to disable selectively, one or all of the LEDindicator modes described above by clearing the associated check boxes in the ‘LEDIndicator Modes’ field.

Potentiometer Control SettingsThe potentiometer slider is sprung such that when released it returns to it’s centralposition. In this central position the motor is stationary. As the slider is moved awayfrom the center, the motor begins to move; the speed of this movement increases asthe slider deflection is increased. Bidirectional control of motor moves is possible bymoving the slider in both directions. The speed of the motor increases by discreteamounts rather than continuously, as a function of slider deflection. These speedsettings can be altered via the ‘Potentiometer Control Settings’ parameters.There are 4 pairs of parameters, each pair specifies a pot deflection value (in therange 0 to 127) together with an associated velocity (set in real world units, mm or

48


degrees) to apply at or beyond that deflection. As each successive deflection isreached by moving the pot slider, the next velocity value is applied. These settingsare applicable in either direction of pot deflection, i.e. 4 possible velocity settings inthe forward or reverse motion directions. The parameters displayed above indicatethat when the pot has been deflected to 20 (approx 1/6 full scale deflection) the motorwill start to move at 0.1mm/sec. At a deflection of 50 (approx 2/5 full scale deflection)the motor velocity will increase to 0.2m/sec, and so on.

Note. It is acceptable to set velocities equal to each other to reduce the number ofspeeds, however this is not allowed for the deflection settings, e.g. the Velocity 4 PotDeflection value must be greater than Velocity 3 Pot Deflection value.

Servo Loop (PID) Control SettingsThe DC Driver T-Cube implements a full servo control loop for motor velocity andposition control. The loop response to demanded position moves is determined viaProportional, Integration and Derivative settings. These settings can be altered usingthe ‘Servo Loop (PID) Control Settings’ parameters.

Proportional – This parameter makes a change to the output which is proportional tothe positional error value. A high proportional gain results in a large change in theoutput for a given error. It accepts values in the range 0 to 32767.Integral – This parameter accelerates the process towards the demanded position,ensuring that the positional error is eventually reduced to zero. If set too high, theoutput can overshoot the demand value. Under a constant torque loading, the staticposition error is zero. It accepts values in the range 0 to 32767.Derivative – This term provides the ‘damping’ force proportional to the rate of changeof the position error, thereby decreasing the overshoot which may be caused by theintegral term. However, the differential term also slows down system response. It accepts values in the range 0 to 32767.Integral Limit – This term sets a maximum limit for the integration term to prevent anexcessive build up over time of the restoring force. It accepts values in the range 0 to32767.

Note. The default values programmed into the APT software will give acceptablemotor performance in most cases. These PID parameters are set according to thestage or actuator type associated with the driver using the APTConfig utility (seeAPTConfig helpfile or the handbook supplied with the unit). However, under extremeloading conditions it may be necessary to alter these factory default values.

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Button Control SettingsThe buttons on the front of the unit can be used either to jog the motor, or to performmoves to absolute positions.

Button Mode: This setting determines the type of move performed when the frontpanel buttons are pressed.

Jogging: Once set to this mode, the move parameters for the buttons are takenfrom the ‘Jog’ parameters on the ‘Move/Jogs’ settings tab.Go to Position: In this mode, each button can be programmed with a differentposition value, such that the controller will move the motor to that position whenthe specific button is pressed.

Note. The following parameters are applicable only if ‘Go to Position is selected in the‘Button Mode’ field.Left/Top Button Position: The position to which the motor will move when the topbutton is pressed.Right/Bottom Button Position: The position to which the motor will move when thebottom button is pressed.Note. A ‘Home’ move can be performed by pressing and holding both buttons for 2seconds. This function is irrespective of the ‘Button Mode’ setting.

Persist Settings to HardwareMany of the parameters that can be set for the DC Driver T-Cube can be stored(persisted) within the unit itself, such that when the unit is next powered up thesesettings are applied automatically. This is particularly important when the driver isbeing used manually in the absence of a PC and USB link. The potentiometer, buttonand LED parameters described above are good examples of settings that can bealtered and then persisted in the driver for use in absence of a PC. To save thesettings to hardware, check the ‘Persist Settings to Hardware’ checkbox beforeclicking the ‘OK button.


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Appendix A

Rear Panel Connector Pinout DetailsA.1 Rear Panel Motor Control Connector

The ‘Motor’ connector provides connection to the DC servo motor actuator. The pinfunctions are detailed in Fig. A.1

Fig. A.1 MOTOR I/O Connector Pin Identification

A 15 Pin DIN to 10 Pin IDC converter (Z600-TCAB1) is available for use with Thorlabslegacy DC Servo Motors.

Pin Description Pin Description1 Ground 9 Not Connected2 Forward Limit Switch 10 5V Encoder Supply3 Reverse Limit Switch 11 Encoder Channel A4 Not Connected 12 Not Connected5 Motor - 13 Encoder Channel B6 Not Connected 14 Not Connected7 Motor + 15 Not Connected8 Not Connected Not Connected

5

101115

61

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Appendix B

Preventive Maintenance

Warning. The equipment contains no user servicable parts. There is a risk of electricalshock if the equipment is operated with the covers removed. Only personnel authorizedby Thorlabs Ltd and trained in the maintenance of this equipment should remove itscovers or attempt any repairs or adjustments. Maintenance is limited to safety testing andcleaning as described in the following sections.

B.1 Safety Testing

PAT testing in accordance with local regulations, should be performed on a regularbasis, (typically annually for an instrument in daily use).

B.2 Cleaning

Warnings. • Disconnect the power supply before cleaning the unit. • Never allow water to get inside the case. • Do not saturate the unit.• Do not use any type of abrasive pad, scouring powder or solvent, e.g. alcohol or

benzene.

The fascia may be cleaned with a soft cloth, lightly dampened with water or a milddetergent.

52

Appendix C

Specifications and Associated ProductsC.1 Specifications

Motor Output:Motor Drive Voltage: 12-15V (Depending on Supply)Motor Drive Current: 200mA (peak)Motor Drive Type: 8-bit Sign/Magnitude PWMControl Algorithm: Digital PID Filter (16bit)Position Feedback: Quadrature Encoder (QEP) Input: 5V Single EndedEncoder Feedback Bandwidth: 750 kHzPosition Counter: 32-bitOperating Modes: Position, VelocityVelocity Profile: Trapezoidal

Motor Drive Connector (15 Way D-Type)Motor Drive Outputs: +ve & -veQuadrature Encoder (QEP) Input: Single EndedLimit Switch Inputs: Forward, Reverse (+ Common Return)Encoder Supply: 5V

Front Panel ControlsSprung Potentiometer Slider: 4 Speed Bidirectional Velocity ControlDual Buttons: Forward/Reverse Jogging or Position Presets

Input Power RequirementsVoltage: 15V Regulated DCCurrent: 500mA (peak)

General DataHousing Dimensions (W x D x H): 60 x 60 x 47mm (2.4" x 2.4" x 1.8")Weight: 160g (5.5 oz)

Recommended Motor RequirementsPeak Power: 2.5WRated Current: 0mA to 150mAMotor Type: Brushed DCCoil Resistance: 5 to 50ΩCoil Inductance: 250 to 1500mHPosition Control: Closed loop EncoderResolution: Encoder Specific

53

Appendix C Specifications and Associated Products

C.2 Associated Products

Product Name Part Number

6mm DC Servo Motor Actuator, 1/4”-80 Z606

6mm DC Servo Motor Actuator, 1/4”-80, Vaccuum Rated Z606V

12mm DC Servo Motor Actuator, 1/4”-80, Z612

12mm DC Servo Motor Actuator, 3/8” Barrel Attachment Z612B

12mm DC Servo Motor Actuator, 1/4”-80, Vaccuum Rated Z612V

12mm DC Servo Motor Actuator, Vaccuum Rated, 3/8” Barrel Attachment

Z612BV

25mm DC Servo Motor Actuator, 3/8” Barrel Attachment, Z625B

25mm DC Servo Motor Actuator, Vaccuum Rated, 3/8” Barrel Attachment

Z625BV

T-Cube Controller USB Hub TCH001

Power Supply for Controller USB Hub TPS006

Single Way Power Supply OPS001

8-way Power Supply TPS008

Converter Cable for Legacy Z6 products (15 pin DIN to 10 pin IDC) Z600-TCAB1

54

Appendix D

DC Motor Operation - BackgroundD.1 How A DC Motor Works

D.1.1 General PrincipleA DC motor works by converting electric power into mechanical energy (movement).This is achieved by forcing current through a coil and producing a magnetic field,which in turn, spins the motor.

Fig. D.1 DC Motor Operation

To describe the operation of a DC motor, consider the single coil example shownabove. In this diagram, current is forced through the coil via sliding contacts (brushes)that are connected to the voltage source. The brushes are located on the end of thecoil wires and make a temporary electrical connection with the DC supply. Whencurrent is flowing, a magnetic field is set up as shown.At 0° rotation, the brushes are in contact with the voltage source and current isflowing. The current that flows through the wire from A to B interacts with the magneticfield and produces an upward force. The current that flows from C to D has a similar

A C

DB

AC

D B

C

D

B

A

A

C

D

B

0 degrees 90 degrees

180 degrees 270 degrees

55

Appendix D DC Motor Operation - Background

effect, but because the flow is in the opposite direction with respect to the magneticfield, the force is in the downward direction. Both forces are of equal magnitude. At 180°, the same phenomenon occurs, butsegment A-B is forced down and C-D is forced up. In the 90° and 270° positions, thebrushes are not in contact with the voltage source and no force is produced. In thesetwo positions, the rotational kinetic energy of the motor keeps it spinning until thebrushes regain contact. In reality, dc motors have several such coils, wound onto anarmature, which produces a more even torque. The magnetic field is provided by anelectromagnet.

D.1.2 Positive and Negative MovesPositive and negative are used to describe the direction of a move. A positive movemeans a move from a smaller absolute position to a larger one, a negative movemeans the opposite.In the case of a linear actuator, a positive move takes the platform of the stage furtheraway from the motor.In a rotational stage, a positive move turns the platform clockwise when viewed fromabove.

D.1.3 Velocity ProfilesTo prevent the motor from stalling, it must be ramped up gradually to its maximumvelocity. Certain limits to velocity and acceleration result from the torque and speedlimits of the motor, and the inertia and friction of the parts it drives.The motion employed is described by a trapezoidal velocity profile, reflecting theshape of the velocity vs. time graph (see Fig. D.2.), thereby driving the stage to itsdestination as quickly as possible, without causing it to stall or lose steps.The stage is ramped at acceleration ‘a’ to a maximum velocity ‘v’. As the destinationis approached, the stage is decelerated at ‘a’ so that the final position is approachedslowly in a controlled manner.

Fig. D.2 Graph of a trapezoidal velocity profile

velocity

maximum velocity (v)

time

acceleration (slope) a

56


D.2 Positioning a Stage

D.2.1 GeneralWhenever a command is received to move a stage, the movement is specified inmotion units, (e.g. millimetres). This motion unit value is converted to encoder countsbefore it is sent to the stage by the APT software.Each motor in the system has an associated electronic counter in the controller, whichkeeps a record of the net number of encoder counts moved. If a request is receivedto report the position, the value of this counter is converted back into motion units.

D.2.2 Home positionWhen the system is powered up, the position counters in the controller are all set tozero and consequently, the system has no way of knowing the position of the stagein relation to any physical datum. A datum can be established by sending all the motors to their ‘Home’ positions. The‘Home’ position is set during manufacture and is determined by driving the motor untilthe negative limit switch is reached and then driving positively a fixed distance (zerooffset). When at the Home position, the counters are reset to zero therebyestablishing a fixed datum that can be found even after the system has been switchedoff.See Section 5.3. for details on performing a Home move.

D.2.3 Limit SwitchesA linear stage moves between two stops, and movement outside these limits isphysically impossible. Linear stages can include stages that control the angle of aplatform within a certain range, although the movement of the platform is not reallylinear but angular. Rotary stages can rotate indefinitely, like a wheel. Linear and rotary stages can contain microswitches that detect certain positions of thestage, but they differ in the way these switches are used. All linear stages have a –ve limit switch, to prevent the stage from accidentally beingmoved too far in the –ve direction - see Fig. D.3. Once this switch is activated,movement stops. The switch also provides a physical datum used to find the Homeposition. Some linear stages and actuators also have a +ve limit switch (such as theZST range of actuators), whereas others rely on a physical stop to halt the motion inthe positive direction. A rotary stage has only one switch, used to provide a datum sothat the Home position can be found. Movement is allowed right through the switchposition in either direction

57

Appendix D DC Motor Operation - Background

.

Fig. D.3 Stage limit switches

D.2.4 Minimum and Maximum PositionsThese positions are dependent upon the stage or actuator to which the motors arefitted, and are defined as the minimum and maximum useful positions of the stagerelative to the ‘Home’ position - see Fig. D.4.The distance from the Minimum position to the Maximum position is the ‘useful travel’of the stage. It is often the case that the Minimum position is zero. The Home andMinimum positions then coincide, with movement always occurring on the positiveside of the Home position.Rotary stages have effectively no limits of travel. The Minimum and Maximumpositions are conventionally set to 0 and 360 degrees respectively. When the positionof a rotary stage is requested, the answer will be reported as a number between 0 and360 degrees, measured in the positive direction from the Home position.

Fig. D.4 Minimum and Maximum Positions

Rotary stageLinear stage

Datum switch

-ve limit switch +ve limit switch(or stop)

Travel

Min. position (zero)(home)

Max. position

Offset

-ve limit switch

SW positive limitSW negative limit

58


D.3 Error Correction

D.3.1 Backlash correctionThe term backlash refers to the tendency of the stage to reach a different positiondepending on the direction of approach.Backlash can be overcome by always making the last portion of a move in the samedirection, conventionally the positive direction. Consider the situation in Fig. D.5, apositive move, from 10 to 20 mm, is carried out as one simple move, whereas anegative move, from 20 to 10 mm, first causes the stage to overshoot the targetposition and then move positively through a small amount.

Fig. D.5 Backlash correction

The particular stage selection will usually have this type of ‘backlash correction’enabled as its default mode of operation, but it can be overridden if the overshoot partof the move is unacceptable for a particular application.See Chapter 6 Software Reference, Move/Jogs Tab for details on setting thebacklash correction.

negat ive move

positive move

10mm 20mm position

59

Chapter 6 DC Motor Operation - Background

60

Products and Customer Support

Optical and Opto-mechanical Components Optical mounts and railsLenses, prisms and filtersPolarization-opticsLaser diodesStandard and specialized optical fibersOptics, laser & fiber accessories

Test- and Measurement SystemsHigh precision current and TEC controllers for laser diodesHighly stable, tunable laser diodes with integrated electronicsOptical powermetersFabry-Perot interferometer and spectrum analyzersPolarization analyzer and controller systems

Optical Tables and Vibration ControlOptical tables and protection systemsVibration damping systemsOptical breadboards and vibration isolated workstations

Nanopositioning SystemsManual, motor- and piezo-driven translators, stages and mountsElectronic stepper motor and piezo controllersIntegrated multi-axis positioning systems at sub-micron to nanometer scale

Laser SystemsExternal cavity laser sources Ultra broadband laser sourcesFemtosecond laser sourcesOptical amplifiersHeNe lasers

Technical SupportThorlabs provide a comprehensive after sales service. Contact us through your local representative, or at the address below:

Thorlabs LtdSaint Thomas PlaceElyCambridgeshire CB7 4EX, UKTel: +44 (0) 1353 654440Fax: +44 (0) 1353 654444email: [email protected]

Customer FeedbackIt is always helpful to have detailed and accurate information about any problems encountered by customersWe welcome comments or suggestions about any aspect of the equipment and instruction handbooks.

THORLABS

THORLABS © Thorlabs 2008 Printed in UK (1008)

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Thorlabs Ltd.Saint Thomas Place, ElyCambridgeshire CB7 4EX, UKTel: +44 (0) 1353 654440Fax: +44 (0) 1353 654444www.thorlabs.com

Thorlabs Inc.435 Route 206 NorthNewton, NJ07860USATel: +1 973 579 7227Fax: +1 973 300 3600www.thorlabs.com

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T-cube DC servo motor driver

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